CN102135619A - Biosonar sounding device and method - Google Patents
Biosonar sounding device and method Download PDFInfo
- Publication number
- CN102135619A CN102135619A CN2010105740729A CN201010574072A CN102135619A CN 102135619 A CN102135619 A CN 102135619A CN 2010105740729 A CN2010105740729 A CN 2010105740729A CN 201010574072 A CN201010574072 A CN 201010574072A CN 102135619 A CN102135619 A CN 102135619A
- Authority
- CN
- China
- Prior art keywords
- signal
- module
- sonar
- echo
- echoed
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Abstract
The invention relates to a biosonar sounding device and a biosonar sounding method. The biosonar sounding device transmits a bionic sonar signal to detect a target, processes an echo signal based on a specific projection mechanism and remains time domain and frequency domain projection characteristics of echo; the obtained double-channel audio echo signal is directly output to human ears; and by simulating animal intelligence by means of a human brain, the functions of positioning a complex target, capturing and identifying characteristics and the like are realized, and a blind person or a normal person in a specified environment can be helped to sense the environment and target. The device comprises a sonar signal transmitting module [A], an echo receiving module [B], a microcomputer module and a double-channel audio output module [C], wherein the sonar signal transmitting module [A] transmits a sonar detection signal to the environment or the target; the echo receiving module [B] receives the echo signal; and the microcomputer module processes the echo signal to obtain an audio echo signal and inputs the signal to the human ears for determination through the double-channel audio output module [C].
Description
Technical field
The invention belongs to novel field of sensing technologies, particularly a kind of biosonar sniffer and detection method thereof.
Background technology
The biosonar technical work is the sonar system that research has the biology (as bat, dolphin etc.) of natural biology sonar, face and ear emission ultrasonic pulse and reception echo by some electronic technology means natural imitation sonars, collect the echo waveform of varying environment, then echo is analyzed and researched, can realize to a certain extent the nature sonar such as identification, location, tracking function.The existing biosonar device that is applied to the biosonar research work mainly comprises the biosonar system that relies on computer and high-performance data acquisition terminal and based on the apparatus for guiding blind of difference frequency principle.
Rely on the biosonar system of computer and high-performance data acquisition terminal, factor can provide very high sample frequency and sampling precision according to acquisition terminal, the echoed signal that collects is attached more multiobject detailed information, computer also has very strong signal analysis and processing ability simultaneously, yet be limited to the restriction of artificial intelligence technology, the identification usefulness of the animal brain of still too late bat of the usefulness of the engineering treatment method of present computer and simple algorithm and dolphin, and because of its volume, weight are bigger, inconvenience is used for the target detection under the outdoor environment.
Based on the apparatus for guiding blind (existing Kai Shi apparatus for guiding blind on the market) of difference frequency principle, be CTFM (Continues Transmitted Frequency Modulated, Continuous Transmission Frequency Modulation ripple) a kind of application of model in ultrasonic listening.Its principle of work is as follows: the CTFM model is a kind of linear frequency sweep ripple, and it has the frequency band of broad, and its scope is from f
lTo f
hAfter receiving end receives echoed signal, echoed signal can with transmit at aliasing mutually of a certain period.Because echoed signal has identical waveform pattern with reflected signal, just a length being arranged in time is the delay of τ, so echoed signal all has identical frequency f with the multiply each other output signal that obtains of transmitting constantly at each
α, equal difference frequency f
h-f
lPass through f
αJust can access the distance size between emitting substance and the transmitting terminal.Differentiate the frequency height of difference frequency signal by ear and can judge that clear and obstacle distance are arranged, can realize to a certain degree guiding function and target detection function.But, compared to the sonar echo signal of bat or dolphin, the entrained target signature information of difference frequency signal is few and do not have the visual information of nature perception, has limited the recognition capability to environmental goals.
Summary of the invention
Technical matters solved by the invention is to provide a kind of portable biosonar sniffer and detection method thereof.
The technical solution that realizes the object of the invention is: a kind of biosonar sniffer comprises sonar signal transmitter module, echo receiver module, microcomputer module, dual-channel audio output module; Sonar signal transmitter module emission sonar signal, echo receiver module receive the echoed signal that reflects and it are transferred to the microcomputer module, and the microcomputer module is handled the back by the output of dual-channel audio output module to signal;
Described sonar signal transmitter module comprises sonar signal generating unit, transmitting terminal signal condition unit and the end ultrasonic transducer takes place, the sonar signal generating unit produces sonar signal, launches to environment or target by the transmitting terminal ultrasonic transducer after the sonar signal amplification that the sonar signal generating unit is exported in transmitting terminal signal condition unit, the low-pass filtering;
Described echo receiver module is a channel structure, this module comprises two identical receiving end ultrasonic transducers, two identical receiving end signal conditioning unit and echoed signal collecting units, the corresponding receiving end signal conditioning of each receiving end ultrasonic transducer unit, the echoed signal that reflects in the receiving end ultrasonic transducer reception environment also is transferred to the receiving end signal corresponding with it conditioning unit with it, receiving end signal conditioning unit to echoed signal amplify, filtering; The echoed signal collecting unit is gathered the two-way echoed signal through signal condition simultaneously, and exports to the microcomputer module;
The dual-channel audio output module comprises audio frequency D/A conversion unit, sound signal conditioning driver element and two-channel player, the audio frequency D/A conversion unit obtains two-way DAB echoed signal with the microcomputer resume module and is converted to simulating signal and exports to sound signal conditioning driver element, and sound signal conditioning driver element amplifies the two-way audio echoed signal and drives the output of two-channel player.
A kind of biosonar detection method may further comprise the steps:
The echoed signal that reflects in step 2, the echo receiver module reception environment also is transferred to microcomputer with it, and described echo receiver module is the binary channels module, can receive the echoed signal that same reflectance target reflects respectively;
Principle of work of the present invention is: the emission sonar signal detection of a target, echoed signal handled obtain echo of acoustic pulse and export to people's ear by the two-channel player, realize functions such as location, identification to target can helping normal person's perception environment and target under blind person or the specific environment for use by human brain.
The present invention compared with prior art, its remarkable advantage is: 1) emission sonar signal be bionical natural sonar signal, echo carries more multiple goal feature, can obtain very high Target Recognition and separating capacity; 2) effect of brain in its natural biology sonar system of device imitation bat of the present invention utilizes human brain as the intelligent link in the biosonar system, remedied based on computer intelligence link algorithm imperfection problem; 3) adopt microcomputer as the control core, can realize storage, the playback of echoed signal, be beneficial to people's ear discrimination objective feature, and can communicate by letter with host computer and echoed signal is transferred to host computer (as PC) does further signal analysis and processing, and the structure experts database, also be convenient to the function expansion of this sniffer in addition; 4) the present invention is based on the echo of acoustic pulse that projection mechanism obtains, fully kept the entrained target signature information of echoed signal; 5) adopt binary channels to receive echoed signal simultaneously and be converted to the left and right sides ear that echo of acoustic pulse is imported the people respectively, kept natural sonar ears difference and distinguished feature in amplitude and frequency spectrum ratio.
Below in conjunction with accompanying drawing the present invention is described in further detail.
Description of drawings
Fig. 1 is a kind of biosonar sniffer fundamental diagram of the present invention.
Fig. 2 is a kind of biosonar sniffer structured flowchart of the present invention.
Fig. 3 is a kind of biosonar sniffer example structure block diagram of the present invention.
Fig. 4 is bionical FMAM ripple.
Fig. 5 is the permanent amplitude wave of bionical frequency modulation.
Fig. 6 is the permanent amplitude wave of bionical constant frequency.
Embodiment
In conjunction with Fig. 1, Fig. 2, the present invention relates to a kind of biosonar face of bat and dolphin and the new bio sonar detection device and detection method thereof of ears principle of work of imitating, be a kind of device and detection method thereof that is applicable to air and submarine target feature identification, described biosonar sniffer, comprise sonar signal transmitter module A, echo receiver module B, the microcomputer module, dual-channel audio output module C; Sonar signal transmitter module A launches sonar signal, and echo receiver module B receives the echoed signal reflect and it is transferred to the microcomputer module, and the microcomputer module is handled the back by dual-channel audio output module C output to signal;
Described sonar signal transmitter module A comprises sonar signal generating unit, transmitting terminal signal condition unit and the end ultrasonic transducer takes place, the sonar signal generating unit produces sonar signal, and by transmitting terminal signal condition unit with the sonar signal of sonar signal generating unit output amplify, after the low-pass filtering by the transmitting terminal ultrasonic transducer to environment or target emission;
Described echo receiver module B is a channel structure, this module comprises two identical receiving end ultrasonic transducers, two identical receiving end signal conditioning unit and echoed signal collecting units, the corresponding receiving end signal conditioning of each receiving end ultrasonic transducer unit, the echoed signal that reflects in the receiving end ultrasonic transducer reception environment also is transferred to the receiving end signal corresponding with it conditioning unit with it, receiving end signal conditioning unit to echoed signal amplify, filtering; The echoed signal collecting unit is gathered the two-way echoed signal through signal condition simultaneously, and exports to the microcomputer module;
Dual-channel audio output module C comprises audio frequency D/A conversion unit, sound signal conditioning driver element and two-channel player, the audio frequency D/A conversion unit obtains two-way DAB echoed signal with the microcomputer resume module and is converted to simulating signal and exports to sound signal conditioning driver element, and sound signal conditioning driver element amplifies the two-way audio echoed signal and drives the output of two-channel player.
Make up the microcomputer module based on microcomputer (single-chip microcomputer, single card microcomputer, DSP, ARM or other volume are little, lightweight microcomputer), it can realize function:
1) control sonar signal generating unit and audio frequency D/A conversion unit;
2) storage of different sonar signal waveforms, the processing of echoed signal, output, storage and playback;
3) experts database, described experts database storage area environmental goals and corresponding echoed signal thereof, the echoed signal of storing in echoed signal that the echo receiver module can be received and experts database contrast, the biosonar sniffer is to the component environment Automatic identification of targets;
4) software maintenance, program upgrade and exchanges data communication interface.
A kind of biosonar detection method may further comprise the steps:
The echoed signal that reflects in step 2, the echo receiver module B reception environment also is transferred to microcomputer with it, and described echo receiver module is the binary channels module, can receive the echoed signal that same reflectance target reflects respectively;
The linear scaling projection process that the signal that receives is carried out on time domain adopts following formula to carry out:
R(t)＝A
1(t)sin[w
1(t)t+φ
1]+A
2(t)sin[w
2(t)t+φ
2]+…+A
i(t)sin[w
i(t)t+φ
i]，i＝1，2，3...n...，
P(t)＝τA
1(t)sin[ξw
1(t)t+φ
1]+τA
2(t)sin[ξw
2(t)t+φ
2]+…+τA
i(t)sin[ξw
i(t)t+φ
i]，i＝1，2，3...n...，
R (t) is an echoed signal, and P (t) is an echo of acoustic pulse, and t is the time, and τ, ξ are constant, φ
iBe the phasing degree, A
i(t) be the function of signal amplitude, w about time t
i(t) be the function of angular frequency about time t.
More specifically, the working method of biosonar sniffer is:
1) microcomputer module controls sonar signal generating unit is according to the selection of target signature or perception task, and control produces sonar signal transmitter module A and produces specific biomimetic sonar signal, and control sonar signal emission module A emission mode;
2) sonar signal transmitter module A produces the biomimetic sonar signal, and with bionical natural sonar signal amplification, low-pass filtering, and, in environment, launch sonar signal by ultrasonic transducer;
3) echo receiver module B is a channel structure, this module comprises two identical receiving end ultrasonic transducers, two identical receiving end signal conditioning unit and echoed signal collecting units, the corresponding receiving end signal conditioning of each receiving end ultrasonic transducer unit, the echoed signal that reflects in the receiving end ultrasonic transducer reception environment also is transferred to the receiving end signal corresponding with it conditioning unit with it, receiving end signal conditioning unit to echoed signal amplify, filtering; The echoed signal collecting unit is gathered the two-way echoed signal through signal condition simultaneously, and exports to the microcomputer module;
4) the microcomputer module based on projection mechanism respectively to the two-way echoed signal carry out the time, proportional linearity projection process on the frequency domain, keep the projection properties of echo ripple, obtain the two-way audio echoed signal that people's ear can be heard;
5) dual-channel audio output module C comprises audio frequency AD conversion unit, sound signal conditioning driver element and two-channel player; Described audio frequency AD conversion unit obtains two-way DAB echoed signal with the microcomputer resume module and is converted to simulating signal output: described sound signal conditioning driver element is with the amplification of two-way audio echoed signal and drive the left and right sides ear that the two-channel player is exported to the people.
The waveform of above-mentioned sonar signal comprises the permanent amplitude wave (Fig. 5) of FMAM ripple (Fig. 4), frequency modulation and the permanent amplitude wave (Fig. 6) of constant frequency of the imitative natural sonar signal of animal (bat or dolphin), can be by selecting the characteristic signal of emission needle, to obtain the validity feature echo of specific nature and artificial target to the different detections of a target.For example, can select short FMAM ripple of duration during close-in target identification for use with permanent amplitude wave of constant frequency or the permanent amplitude wave of frequency modulation during telemeasurement, judge the permanent amplitude wave of constant frequency when target has or not.Training back user can launch the special waveform of specific frequency spectrum composition at specific objective, can improve the recognition efficiency of complex configuration target (as plant) as the pulse signal that contains three or three above frequency sweep compositions simultaneously.After this external selected kind that transmits, can be according to the difference of detection range, copy bat to patrol to fly, the bionics principle of the emission of the sonar pulse when preying on, can take following several radiation pattern: 1) closely, launch very brief sonar signal with upper frequency, for example two meters intervals of distance objective 20us continues the interval signal of emission duration 64us; 2) middle distance, interval signal with intermediate frequency emission duration appropriateness, as 6 meters apart from the time transmission interval 6ms duration 1024us interval signal 3) sonar signal that remote emission duration is long, transmission frequency is lower, for example the interval signal of distance objective 1s lasting emission duration 6000us in interval more than 15 meters.
In detection to environmental goals, utilize this device can realize to the obtaining of environmental goals multiple characteristics, such as the time of the aerial propagation of sonar signal, promptly echo can be judged the distance size of target with respect to the time-delay of x time; Hear between two ears that the amplitude difference of the echo of hearing between the sequencing of echo or two ears can judge the orientation of target with respect to sniffer; The amplitude of echo can reflect the size of target; Trained user by the frequency change of distinguishing that echo of acoustic pulse transmits with respect to audio frequency, can obtain the velocity information of target; According to the minutia of the amplitude of different frequency in echo of acoustic pulse size reflection target etc.
Below in conjunction with embodiment the present invention is done further detailed description:
In conjunction with the existing digital signal processor DSP 2812 with American TI Company of Fig. 3 is microcomputer module controls core, the peripheral hardware of its expansion comprises and extends out the FLASH storer, extend out the SRAM storer, the SD card, a high sampling rate analog to digital converter DAC, two audio frequency analog to digital converter DAC, the RS232 communication module, DSP2812 passes to digital to analog converter DAC (TLC5602) with the bionical natural sonar signal in the storer, DAC output simulation sonar signal is given the transmitting terminal signal condition unit of sonar sound wave emissions end, transmitting terminal signal condition unit carries out signal condition to the sonar signal of DAC output, launches sonar signal by ultrasonic transducer to environmental goals then.
Sonar signal is propagated in air and is run into target or barrier generation echo, echo respectively by the echo receiver module two reception ultrasonic transducers receive, described receiving transducer splits the ultrasonic transducer both sides of transmitter module, behind the amplification of receiving end signal modulate circuit, frequency-selective filtering, DSP2812 control analog to digital converter ADC samples to the two-way echoed signal simultaneously, and deposits echoed signal in storer.
DSP2812 handles the two-way echoed signal respectively based on projection mechanism and obtains the two-way audio echoed signal, and control audio digital to analog converter DAC (TLC5638) output audio echoed signal is to the dual-channel audio output module, the dual-channel audio output module to echo of acoustic pulse filtering after, audio-frequency power amplifier (LM4808) is to its power amplification, and respectively the two-way audio echoed signal exported to people's left and right sides ear by the binary channels earphone.
In addition, can select that echoed signal is stored in the SD card and be used for playback as required, DSP2812 communicates the transmission echo signal data by RS232 serial ports and PC, downloads experts database.
In the present embodiment, the user wears or hand-held this device, the headband earphone, the acquisition environment target, can realize that to the obtaining of environmental goals multiple characteristics such as the time of the aerial propagation of sonar signal, promptly echo can be judged the distance size of target with respect to the time-delay of x time; Hear between two ears that the amplitude difference of the echo of hearing between the sequencing of echo or two ears can judge the orientation of target with respect to sniffer; The amplitude of echo can reflect the size of target; Trained user by the frequency change of distinguishing that echo of acoustic pulse transmits with respect to audio frequency, can obtain the velocity information of target; According to the minutia of the amplitude of different frequency in echo of acoustic pulse size reflection target etc.
Claims (5)
1. a biosonar sniffer is characterized in that, comprises sonar signal transmitter module [A], echo receiver module [B], microcomputer module, dual-channel audio output module [C]; Sonar signal transmitter module [A] emission sonar signal, echo receiver module [B] receive the echoed signal that reflects and it are transferred to the microcomputer module, and the microcomputer module is handled the back by dual-channel audio output module [C] output to signal;
Described sonar signal transmitter module [A] comprises sonar signal generating unit, transmitting terminal signal condition unit and the end ultrasonic transducer takes place, the sonar signal generating unit produces sonar signal, launches to environment or target by the transmitting terminal ultrasonic transducer after the sonar signal amplification that the sonar signal generating unit is exported in transmitting terminal signal condition unit, the low-pass filtering;
Described echo receiver module [B] is a channel structure, this module comprises two identical receiving end ultrasonic transducers, two identical receiving end signal conditioning unit and echoed signal collecting units, the corresponding receiving end signal conditioning of each receiving end ultrasonic transducer unit, the echoed signal that reflects in the receiving end ultrasonic transducer reception environment also is transferred to the receiving end signal corresponding with it conditioning unit with it, receiving end signal conditioning unit to echoed signal amplify, filtering; The echoed signal collecting unit is gathered the two-way echoed signal through signal condition simultaneously, and exports to the microcomputer module;
Dual-channel audio output module [C] comprises audio frequency D/A conversion unit, sound signal conditioning driver element and two-channel player, the audio frequency D/A conversion unit obtains two-way DAB echoed signal with the microcomputer resume module and is converted to simulating signal and exports to sound signal conditioning driver element, and sound signal conditioning driver element amplifies the two-way audio echoed signal and drives the output of two-channel player.
2. a kind of biosonar sniffer according to claim 1 is characterized in that, the sonar signal that the sonar signal generating unit is produced comprises the FMAM ripple of bionical natural sonar signal and the permanent amplitude wave of frequency modulation, the permanent amplitude wave of constant frequency.
3. the detection method based on the described biosonar sniffer of claim 1 is characterized in that, may further comprise the steps:
Step 1, sonar signal transmitter module [A] are to external world's emission sonar signal;
The echoed signal that reflects in step 2, echo receiver module [B] reception environment also is transferred to the microcomputer module with it, and described echo receiver module is the binary channels module, can receive the echoed signal that same reflectance target reflects respectively;
Step 3, microcomputer are carried out linear scaling projection process on time domain with the signal that receives, and keep the amplitude and the frequency spectrum ratio feature of echo ripple, obtain having the two-way audio echoed signal of meaning directly perceived;
Step 4, dual-channel audio output module [C] are exported to the two-way audio echoed signal pleasant.
4. detection method according to claim 3, it is characterized in that step 1 adopts permanent amplitude wave of constant frequency or the permanent amplitude wave of frequency modulation during telemeasurement when external world's emission sonar signal, the FMAM ripple time is selected in close-in target identification for use, adopts the permanent amplitude wave of constant frequency when judging the having or not of target.
5. detection method according to claim 3 is characterized in that, step 3 adopts following formula to carry out the linear scaling projection process that the signal that receives carries out on time domain:
R(t)＝A
1(t)sin[w
1(t)t+φ
1]+A
2(t)sin[w
2(t)t+φ
2]+…+A
i(t)sin[w
i(t)t+φ
i]，i＝1，2，3...n...，
P(t)＝τA
1(t)sin[ξw
1(t)t+φ
1]+τA
2(t)sin[ξw
2(t)t+φ
2]+…+τA
i(t)sin[ξw
i(t)t+φ
i]，i＝1，2，3...n...，
R (t) is an echoed signal, and P (t) is an echo of acoustic pulse, and t is the time, and τ, ξ are constant, φ
iBe the phasing degree, A
i(t) be the function of signal amplitude, w about time t
i(t) be the function of angular frequency about time t.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010105740729A CN102135619A (en) | 2010-12-06 | 2010-12-06 | Biosonar sounding device and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010105740729A CN102135619A (en) | 2010-12-06 | 2010-12-06 | Biosonar sounding device and method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN102135619A true CN102135619A (en) | 2011-07-27 |
Family
ID=44295457
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010105740729A Pending CN102135619A (en) | 2010-12-06 | 2010-12-06 | Biosonar sounding device and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102135619A (en) |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102121986A (en) * | 2010-12-06 | 2011-07-13 | 南京理工大学 | Bionic sonar capsule |
| CN102628941A (en) * | 2012-03-12 | 2012-08-08 | 陈明霞 | Reconstruction method of broadband ultrasonic echo signal |
| CN102716003A (en) * | 2012-07-04 | 2012-10-10 | 南通朝阳智能科技有限公司 | Audio-visual integration handicapped helping device |
| CN104569966A (en) * | 2015-01-22 | 2015-04-29 | 武汉滨湖电子有限责任公司 | Human body detection method combining frequency domain clutter map detection with high and low frequency energy ratio |
| CN105759245A (en) * | 2016-04-11 | 2016-07-13 | 武汉理工大学 | Sonar life positioning device and sonar positioning method |
| CN105997448A (en) * | 2016-04-30 | 2016-10-12 | 中国海洋大学 | Ultrasonic echo positioning blindness-guiding instrument of frequency-domain projection type |
| CN106772328A (en) * | 2016-12-28 | 2017-05-31 | 孔睿雯 | A kind of bionical bat sonar experimental system setup based on multiaxis head |
| CN108469615A (en) * | 2018-03-27 | 2018-08-31 | 山东大学 | It is a kind of based on the small target auto-orientation device and its construction method of bat biomimetic sonar and application |
| CN109541633A (en) * | 2018-11-09 | 2019-03-29 | 深圳市银星智能科技股份有限公司 | A kind of ground detection, robot and ground detection method |
| CN109871122A (en) * | 2019-01-18 | 2019-06-11 | 深圳大学 | A kind of underwater control system and its control method of intelligent electronic device |
| CN110225432A (en) * | 2019-05-10 | 2019-09-10 | 中国船舶重工集团公司第七一五研究所 | A kind of sonar target solid listens to method |
| CN110361704A (en) * | 2019-06-27 | 2019-10-22 | 中国人民解放军海军工程大学 | A kind of sonar sea trial data review andanalysis system and method |
| CN112451325A (en) * | 2020-10-12 | 2021-03-09 | 中国海洋大学 | Parametric array bionic signal sound guide blind system |
| WO2021102993A1 (en) * | 2019-11-29 | 2021-06-03 | 深圳市大疆创新科技有限公司 | Environment detection method, electronic device and computer-readable storage medium |
| CN116719035A (en) * | 2023-08-10 | 2023-09-08 | 西安交通大学 | Binaural ultrasound space positioning method, autonomous mobile robot and control method |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3626416A (en) * | 1970-04-29 | 1971-12-07 | Itt | Direction finding receiver |
| US4761770A (en) * | 1986-09-15 | 1988-08-02 | Wonky Kim | Ultrasonic binaural sensory aid for a blind person |
| US5345471A (en) * | 1993-04-12 | 1994-09-06 | The Regents Of The University Of California | Ultra-wideband receiver |
| US6671226B1 (en) * | 2001-06-01 | 2003-12-30 | Arizona Board Of Regents | Ultrasonic path guidance for visually impaired |
| US20090322616A1 (en) * | 2003-10-28 | 2009-12-31 | Bandhauer Brian D | Radar echolocater with audio output |
-
2010
- 2010-12-06 CN CN2010105740729A patent/CN102135619A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3626416A (en) * | 1970-04-29 | 1971-12-07 | Itt | Direction finding receiver |
| US4761770A (en) * | 1986-09-15 | 1988-08-02 | Wonky Kim | Ultrasonic binaural sensory aid for a blind person |
| US5345471A (en) * | 1993-04-12 | 1994-09-06 | The Regents Of The University Of California | Ultra-wideband receiver |
| US6671226B1 (en) * | 2001-06-01 | 2003-12-30 | Arizona Board Of Regents | Ultrasonic path guidance for visually impaired |
| US20090322616A1 (en) * | 2003-10-28 | 2009-12-31 | Bandhauer Brian D | Radar echolocater with audio output |
Cited By (22)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102121986A (en) * | 2010-12-06 | 2011-07-13 | 南京理工大学 | Bionic sonar capsule |
| CN102121986B (en) * | 2010-12-06 | 2013-03-27 | 南京理工大学 | Bionic sonar capsule |
| CN102628941A (en) * | 2012-03-12 | 2012-08-08 | 陈明霞 | Reconstruction method of broadband ultrasonic echo signal |
| CN102716003A (en) * | 2012-07-04 | 2012-10-10 | 南通朝阳智能科技有限公司 | Audio-visual integration handicapped helping device |
| WO2014005409A1 (en) * | 2012-07-04 | 2014-01-09 | 南通朝阳智能科技有限公司 | Audio-visual integration handicapped helping device |
| CN104569966A (en) * | 2015-01-22 | 2015-04-29 | 武汉滨湖电子有限责任公司 | Human body detection method combining frequency domain clutter map detection with high and low frequency energy ratio |
| CN105759245A (en) * | 2016-04-11 | 2016-07-13 | 武汉理工大学 | Sonar life positioning device and sonar positioning method |
| CN105759245B (en) * | 2016-04-11 | 2018-06-12 | 武汉理工大学 | Sonar life location device and sonar localization method |
| CN105997448A (en) * | 2016-04-30 | 2016-10-12 | 中国海洋大学 | Ultrasonic echo positioning blindness-guiding instrument of frequency-domain projection type |
| CN106772328A (en) * | 2016-12-28 | 2017-05-31 | 孔睿雯 | A kind of bionical bat sonar experimental system setup based on multiaxis head |
| CN108469615A (en) * | 2018-03-27 | 2018-08-31 | 山东大学 | It is a kind of based on the small target auto-orientation device and its construction method of bat biomimetic sonar and application |
| CN109541633A (en) * | 2018-11-09 | 2019-03-29 | 深圳市银星智能科技股份有限公司 | A kind of ground detection, robot and ground detection method |
| US11256265B2 (en) | 2018-11-09 | 2022-02-22 | Shenzhen Silver Star Intelligent Technology Co., Ltd | Ground detection device, robot and ground detection method |
| CN109871122A (en) * | 2019-01-18 | 2019-06-11 | 深圳大学 | A kind of underwater control system and its control method of intelligent electronic device |
| CN110225432A (en) * | 2019-05-10 | 2019-09-10 | 中国船舶重工集团公司第七一五研究所 | A kind of sonar target solid listens to method |
| CN110225432B (en) * | 2019-05-10 | 2021-08-31 | 中国船舶重工集团公司第七一五研究所 | Stereo listening method for sonar target |
| CN110361704A (en) * | 2019-06-27 | 2019-10-22 | 中国人民解放军海军工程大学 | A kind of sonar sea trial data review andanalysis system and method |
| CN110361704B (en) * | 2019-06-27 | 2021-07-06 | 中国人民解放军海军工程大学 | Sonar offshore test data playback analysis system and method |
| WO2021102993A1 (en) * | 2019-11-29 | 2021-06-03 | 深圳市大疆创新科技有限公司 | Environment detection method, electronic device and computer-readable storage medium |
| CN112451325A (en) * | 2020-10-12 | 2021-03-09 | 中国海洋大学 | Parametric array bionic signal sound guide blind system |
| CN116719035A (en) * | 2023-08-10 | 2023-09-08 | 西安交通大学 | Binaural ultrasound space positioning method, autonomous mobile robot and control method |
| CN116719035B (en) * | 2023-08-10 | 2023-11-07 | 西安交通大学 | Binaural ultrasound space positioning method, autonomous mobile robot and control method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102135619A (en) | Biosonar sounding device and method | |
| CN102988155B (en) | Coding vibration and voice prompt blind guiding method and apparatus based on multi-frequency modulation | |
| CN101642405B (en) | Ultrasonic blind guide method and portable ultrasonic blind guide device thereof | |
| CN103941259B (en) | A kind of ultrasonic ranging method possessing high noise immunity and range unit | |
| CN107221319A (en) | A kind of speech recognition test system and method | |
| CN103869321A (en) | Ultrasonic distance measurement system and method for controlling ultrasonic distance measurement system to measure distance | |
| CN104093094A (en) | Indoor voice acquisition method and device based on self-adaptive rotating alignment | |
| CN201812045U (en) | Ultrasonic snow depth measuring instrument | |
| CN106328130A (en) | Robot voice addressed rotation system and method | |
| CN106503336A (en) | A kind of method of dolphin ticktack acoustical signal modeling with synthesizing | |
| CN102841343A (en) | Echo sounding apparatus calibration system based on industrial computer and calibration method | |
| GB2406415A (en) | Waveform analysis | |
| CN110570874B (en) | System and method for monitoring sound intensity and distribution of wild birds | |
| CN103077627B (en) | Portable type visualized cardiophony teaching system | |
| CN104598016A (en) | Method and device for controlling audio playing and motion sensing controller | |
| CN204274498U (en) | A kind of Portable cardiac monitoring device | |
| CN202802090U (en) | Guiding device with vibration prompt and voice prompt based on multiple frequency modulation (FM) coding | |
| CN203149117U (en) | Speed measurement device | |
| Cai et al. | Acoustic software defined platform: A versatile sensing and general benchmarking platform | |
| CN110007306A (en) | A kind of underwater sonar detection system | |
| CN201404415Y (en) | Ultrasonic short-range multi-directional environment reconstruction system | |
| CN107064995B (en) | A kind of acoustics method for positioning underground pipeline based on DSP | |
| CN102121986A (en) | Bionic sonar capsule | |
| CN201936324U (en) | Ultrasonic micro-Doppler device for extracting human body gait characteristics | |
| CN115561311A (en) | Low-frequency sound wave remote soil moisture content measuring system and method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C12 | Rejection of a patent application after its publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20110727 |